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Laser ranging and video imaging for bin picking

Faysal Boughorbel (Faysal Boughorbel is based at Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, USA.)
Yan Zhang (Yan Zhang is based at Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, USA.)
Sangkyu Kang (Sangkyu Kang is based at Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, USA.)
Umayal Chidambaram (Umayal Chidambaram is based at Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, USA.)
Besma Abidi (Besma Abidi is based at Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, USA.)
Andreas Koschan (Andreas Koschan is based at Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, USA.)
Mongi Abidi (Mongi Abidi is based at Imaging, Robotics and Intelligent Systems Lab, Department of Electrical and Computer Engineering, The University of Tennessee, Knoxville, USA.)

Assembly Automation

ISSN: 0144-5154

Article publication date: 1 March 2003

871

Abstract

This paper describes an imaging system that was developed to aid industrial bin picking tasks. The purpose of this system was to provide accurate 3D models of parts and objects in the bin, so that precise grasping operations could be performed. The technology described here is based on two types of sensors: range mapping scanners and video cameras. The geometry of bin contents was reconstructed from range maps and modeled using superquadric representations, providing location and parts surface information that can be employed to guide the robotic arm. Texture was also provided by the video streams and applied to the recovered models. The system is expected to improve the accuracy and efficiency of bin sorting and represents a step toward full automation.

Keywords

Citation

Boughorbel, F., Zhang, Y., Kang, S., Chidambaram, U., Abidi, B., Koschan, A. and Abidi, M. (2003), "Laser ranging and video imaging for bin picking", Assembly Automation, Vol. 23 No. 1, pp. 53-59. https://doi.org/10.1108/01445150310460097

Publisher

:

MCB UP Ltd

Copyright © 2003, MCB UP Limited

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